LegacyRichAI Class Reference

Advanced AI for navmesh based graphs. More...

Detailed Description

Advanced AI for navmesh based graphs.

Deprecated:

Use the RichAI class instead. This class only exists for compatibility reasons.

A* Pro Feature:

This is an A* Pathfinding Project Pro feature only. This function/class/variable might not exist in the Free version of the A* Pathfinding Project or the functionality might be limited
The Pro version can be bought here

Public Attributes
bool	preciseSlowdown = true
	Use a 3rd degree equation for calculating slowdown acceleration instead of a 2nd degree. More...
bool	raycastingForGroundPlacement = false
Public Attributes inherited from RichAI
float	acceleration = 5
	Max acceleration of the agent. More...
bool	funnelSimplification = false
	Use funnel simplification. More...
System.Func< RichSpecial, IEnumerator >	onTraverseOffMeshLink
	Called when the agent starts to traverse an off-mesh link. More...
float	rotationSpeed = 360
	Max rotation speed of the agent. More...
float	slowdownTime = 0.5f
	How long before reaching the end of the path to start to slow down. More...
bool	slowWhenNotFacingTarget = true
	Slow down when not facing the target direction. More...
float	wallDist = 1
	Walls within this range will be used for avoidance. More...
float	wallForce = 3
	Force to avoid walls with. More...
Public Attributes inherited from AIBase
bool	canMove = true
	Enables or disables movement completely. More...
bool	canSearch = true
	Enables or disables recalculating the path at regular intervals. More...
bool	enableRotation = true
	If true, the AI will rotate to face the movement direction. More...
float	endReachedDistance = 0.2f
	Distance to the end point to consider the end of path to be reached. More...
Vector3	gravity = new Vector3(float.NaN, float.NaN, float.NaN)
	Gravity to use. More...
LayerMask	groundMask = -1
	Layer mask to use for ground placement. More...
float	height = 2
	Radius of the agent in world units. More...
float	maxSpeed = 1
	Max speed in world units per second. More...
IMovementPlane	movementPlane = GraphTransform.identityTransform
	Plane which this agent is moving in. More...
OrientationMode	orientation = OrientationMode.ZAxisForward
	Determines which direction the agent moves in. More...
float	radius = 0.5f
	Height of the agent in world units. More...
float	repathRate = 0.5f
	Determines how often the agent will search for new paths (in seconds). More...
RVODestinationCrowdedBehavior	rvoDensityBehavior = new RVODestinationCrowdedBehavior(true, 0.5f, false)
	Controls if the agent slows down to a stop if the area around the destination is crowded. More...
bool	updatePosition = true
	Determines if the character's position should be coupled to the Transform's position. More...
bool	updateRotation = true
	Determines if the character's rotation should be coupled to the Transform's rotation. More...
CloseToDestinationMode	whenCloseToDestination = CloseToDestinationMode.Stop
	What to do when within endReachedDistance units from the destination. More...

Protected Member Functions
override void	Awake ()
override void	OnUpdate (float dt)
	Update is called once per frame. More...
Protected Member Functions inherited from RichAI
override Vector3	ClampToNavmesh (Vector3 position, out bool positionChanged)
	Constrains the character's position to lie on the navmesh. More...
override void	ClearPath ()
	Clears the current path of the agent. More...
override void	MovementUpdateInternal (float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
	Called during either Update or FixedUpdate depending on if rigidbodies are used for movement or not. More...
void	NextPart ()
	Declare that the AI has completely traversed the current part. More...
override void	OnDisable ()
	Called when the component is disabled. More...
override void	OnDrawGizmos ()
override void	OnPathComplete (Path p)
	Called when a requested path has been calculated. More...
virtual void	OnTargetReached ()
	Called when the end of the path is reached. More...
override int	OnUpgradeSerializedData (int version, bool unityThread)
	Handle serialization backwards compatibility. More...
IEnumerator	TraverseOffMeshLinkFallback (RichSpecial link)
	Fallback for traversing off-mesh links in case onTraverseOffMeshLink is not set. More...
virtual IEnumerator	TraverseSpecial (RichSpecial link)
	Traverses an off-mesh link. More...
virtual Vector3	UpdateTarget (RichFunnel fn)
Protected Member Functions inherited from AIBase
void	ApplyGravity (float deltaTime)
	Accelerates the agent downwards. More...
Vector2	CalculateDeltaToMoveThisFrame (Vector2 position, float distanceToEndOfPath, float deltaTime)
	Calculates how far to move during a single frame. More...
virtual void	CalculatePathRequestEndpoints (out Vector3 start, out Vector3 end)
	Outputs the start point and end point of the next automatic path request. More...
void	CancelCurrentPathRequest ()
virtual void	OnDrawGizmosSelected ()
virtual void	OnEnable ()
	Called when the component is enabled. More...
Vector3	RaycastPosition (Vector3 position, float lastElevation)
	Checks if the character is grounded and prevents ground penetration. More...
override void	Reset ()
	Handle serialization backwards compatibility. More...
Quaternion	SimulateRotationTowards (Vector2 direction, float maxDegrees)
	Simulates rotating the agent towards the specified direction and returns the new rotation. More...
virtual void	Start ()
	Starts searching for paths. More...
void	UpdateVelocity ()

Private Member Functions
new Vector3	RaycastPosition (Vector3 position, float lasty)
bool	RotateTowards (Vector3 trotdir)
	Rotates along the Y-axis the transform towards trotdir. More...

Private Attributes
Vector3	currentTargetDirection
Vector3	lastTargetPoint
new Vector3	velocity
	Current velocity of the agent. More...

Static Private Attributes
static float	deltaTime
	Smooth delta time to avoid getting overly affected by e.g GC. More...

Additional Inherited Members
Public Member Functions inherited from RichAI
override void	SearchPath ()
	Recalculate the current path. More...
override void	Teleport (Vector3 newPosition, bool clearPath=true)
	Instantly move the agent to a new position. More...
void	UpdatePath ()
	Force recalculation of the current path. More...
Public Member Functions inherited from AIBase
virtual void	FinalizeMovement (Vector3 nextPosition, Quaternion nextRotation)
	Moves the agent to a position. More...
virtual void	FindComponents ()
	Looks for any attached components like RVOController and CharacterController etc. More...
virtual Vector3	GetFeetPosition ()
	Position of the base of the character. More...
virtual void	Move (Vector3 deltaPosition)
	Move the agent. More...
void	MovementUpdate (float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
	Calculate how the character wants to move during this frame. More...
void	SetPath (Path path)
	Make the AI follow the specified path. More...
Quaternion	SimulateRotationTowards (Vector3 direction, float maxDegrees)
	Simulates rotating the agent towards the specified direction and returns the new rotation. More...
Public Member Functions inherited from IAstarAI
void	FinalizeMovement (Vector3 nextPosition, Quaternion nextRotation)
	Move the agent. More...
void	Move (Vector3 deltaPosition)
	Move the agent. More...
void	MovementUpdate (float deltaTime, out Vector3 nextPosition, out Quaternion nextRotation)
	Calculate how the character wants to move during this frame. More...
void	SetPath (Path path)
	Make the AI follow the specified path. More...
Static Public Attributes inherited from AIBase
static readonly Color	ShapeGizmoColor = new Color(240/255f, 213/255f, 30/255f)
Protected Attributes inherited from RichAI
bool	delayUpdatePath
float	distanceToSteeringTarget = float.PositiveInfinity
	Distance to steeringTarget in the movement plane. More...
bool	lastCorner
readonly List< Vector3 >	nextCorners = new List<Vector3>()
readonly RichPath	richPath = new RichPath()
	Holds the current path that this agent is following. More...
readonly List< Vector3 >	wallBuffer = new List<Vector3>()
Protected Attributes inherited from AIBase
CharacterController	controller
	Cached CharacterController component. More...
Vector2	lastDeltaPosition
	Amount which the character wants or tried to move with during the last frame. More...
float	lastDeltaTime
	Delta time used for movement during the last frame. More...
float	lastRepath = float.NegativeInfinity
	Time when the last path request was started. More...
int	prevFrame
	Last frame index when prevPosition1 was updated. More...
Vector3	prevPosition1
	Position of the character at the end of the last frame. More...
Vector3	prevPosition2
	Position of the character at the end of the frame before the last frame. More...
Rigidbody	rigid
	Cached Rigidbody component. More...
Rigidbody2D	rigid2D
	Cached Rigidbody component. More...
RVOController	rvoController
	Cached RVOController component. More...
Seeker	seeker
	Cached Seeker component. More...
Vector3	simulatedPosition
	Position of the agent. More...
Quaternion	simulatedRotation
	Rotation of the agent. More...
Transform	tr
	Cached Transform component. More...
Vector2	velocity2D
	Current desired velocity of the agent (does not include local avoidance and physics). More...
float	verticalVelocity
	Velocity due to gravity. More...
bool	waitingForPathCalculation = false
	Only when the previous path has been calculated should the script consider searching for a new path. More...
Static Protected Attributes inherited from RichAI
static readonly Color	GizmoColorPath = new Color(8.0f/255, 78.0f/255, 194.0f/255)
Properties inherited from RichAI
Animation	anim [get, set]
	Anim for off-mesh links. More...
bool	ApproachingPartEndpoint [get]
bool	approachingPartEndpoint [get]
	True if approaching the last waypoint in the current part of the path. More...
bool	ApproachingPathEndpoint [get]
bool	approachingPathEndpoint [get]
	True if approaching the last waypoint of all parts in the current path. More...
bool IAstarAI.	canMove [get, set]
	Enables or disables movement completely. More...
bool IAstarAI.	canSearch [get, set]
	Enables or disables recalculating the path at regular intervals. More...
float	DistanceToNextWaypoint [get]
bool	hasPath [get]
	True if this agent currently has a path that it follows. More...
float IAstarAI.	height [get, set]
	Radius of the agent in world units. More...
float IAstarAI.	maxSpeed [get, set]
	Max speed in world units per second. More...
Vector3	NextWaypoint [get]
	Waypoint that the agent is moving towards. More...
bool	PathPending [get]
	True if a path to the target is currently being calculated. More...
bool	pathPending [get]
	True if a path is currently being calculated. More...
float IAstarAI.	radius [get, set]
	Height of the agent in world units. More...
override bool	reachedDestination [get]
	True if the ai has reached the destination. More...
bool	reachedEndOfPath [get]
	True if the agent has reached the end of the current path. More...
float	remainingDistance [get]
	Remaining distance along the current path to the end of the path. More...
bool	repeatedlySearchPaths [get, set]
	Search for new paths repeatedly. More...
override bool	shouldRecalculatePath [get]
Vector3	steeringTarget [get, protected set]
	Point on the path which the agent is currently moving towards. More...
Vector3	TargetPoint [get]
	Current waypoint that the agent is moving towards. More...
bool	TargetReached [get]
	True if the end of the path has been reached. More...
bool	traversingOffMeshLink [get, protected set]
bool	TraversingSpecial [get]
Vector3	Velocity [get]
	Current velocity of the agent. More...
Properties inherited from AIBase
float	centerOffset [get, set]
	Offset along the Y coordinate for the ground raycast start position. More...
Vector3	desiredVelocity [get]
	Velocity that this agent wants to move with. More...
Vector3	destination [get, set]
	Position in the world that this agent should move to. More...
bool	isStopped [get, set]
	Gets or sets if the agent should stop moving. More...
System.Action	onSearchPath [get, set]
	Called when the agent recalculates its path. More...
Vector3	position [get]
	Position of the agent. More...
abstract bool	reachedDestination [get]
	True if the ai has reached the destination. More...
Quaternion	rotation [get]
	Rotation of the agent. More...
bool	rotationIn2D [get, set]
	If true, the forward axis of the character will be along the Y axis instead of the Z axis. More...
virtual bool	shouldRecalculatePath [get]
	True if the path should be automatically recalculated as soon as possible. More...
Transform	target [get, set]
	Target to move towards. More...
bool	usingGravity [get, set]
	Indicates if gravity is used during this frame. More...
Vector3	velocity [get]
	Actual velocity that the agent is moving with. More...
Properties inherited from VersionedMonoBehaviour
int Util.IEntityIndex.	EntityIndex [get, set]
	Internal entity index used by #BurstBatchHelper. More...
Properties inherited from IEntityIndex
int	EntityIndex [get, set]
Properties inherited from IAstarAI
bool	canMove [get, set]
	Enables or disables movement completely. More...
bool	canSearch [get, set]
	Enables or disables recalculating the path at regular intervals. More...
Vector3	desiredVelocity [get]
	Velocity that this agent wants to move with. More...
Vector3	destination [get, set]
	Position in the world that this agent should move to. More...
bool	hasPath [get]
	True if this agent currently has a path that it follows. More...
float	height [get, set]
	Radius of the agent in world units. More...
bool	isStopped [get, set]
	Gets or sets if the agent should stop moving. More...
float	maxSpeed [get, set]
	Max speed in world units per second. More...
System.Action	onSearchPath [get, set]
	Called when the agent recalculates its path. More...
bool	pathPending [get]
	True if a path is currently being calculated. More...
Vector3	position [get]
	Position of the agent. More...
float	radius [get, set]
	Height of the agent in world units. More...
bool	reachedDestination [get]
	True if the ai has reached the destination. More...
bool	reachedEndOfPath [get]
	True if the agent has reached the end of the current path. More...
float	remainingDistance [get]
	Remaining distance along the current path to the end of the path. More...
Quaternion	rotation [get]
	Rotation of the agent. More...
Vector3	steeringTarget [get]
	Point on the path which the agent is currently moving towards. More...
Vector3	velocity [get]
	Actual velocity that the agent is moving with. More...

Member Function Documentation

Awake()

override void Awake ( )

protectedvirtual

Reimplemented from VersionedMonoBehaviour.

OnUpdate()

override void OnUpdate ( float  dt )

protectedvirtual

Update is called once per frame.

Reimplemented from AIBase.

RaycastPosition()

new Vector3 RaycastPosition ( Vector3  position, float  lasty  )

private

RotateTowards()

bool RotateTowards ( Vector3  trotdir )

private

Rotates along the Y-axis the transform towards trotdir.

Member Data Documentation

currentTargetDirection

Vector3 currentTargetDirection

private

deltaTime

float deltaTime

staticprivate

Smooth delta time to avoid getting overly affected by e.g GC.

lastTargetPoint

Vector3 lastTargetPoint

private

preciseSlowdown

bool preciseSlowdown = true

Use a 3rd degree equation for calculating slowdown acceleration instead of a 2nd degree.

A 3rd degree equation can also make sure that the velocity when reaching the target is roughly zero and therefore it will have a more direct stop. In contrast solving a 2nd degree equation which will just make sure the target is reached but will usually have a larger velocity when reaching the target and therefore look more "bouncy".

raycastingForGroundPlacement

bool raycastingForGroundPlacement = false

velocity

new Vector3 velocity

private

Current velocity of the agent.

Includes eventual velocity due to gravity

---

The documentation for this class was generated from the following file:

• /Users/arong/Unity/a-pathfinding-project/Assets/AstarPathfindingProject/Legacy/LegacyRichAI.cs